Arc additive metal transition control system and method based on local arc pressure sensing
By using a local arc voltage sensing system and a multi-level variable step size control method, the metal transition in arc additive manufacturing was stabilized, the problems of metal spatter and wire puncture were solved, and the forming quality was improved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- BEIJING UNIV OF TECH
- Filing Date
- 2023-10-27
- Publication Date
- 2026-07-03
AI Technical Summary
In existing electric arc additive manufacturing, the metal transition method is unstable, which easily leads to metal spatter, wire sticking and wire poking, resulting in poor forming quality. Moreover, the existing control methods are complex and have slow response speed.
A local arc voltage sensing system is adopted, which collects the local arc voltage signal between the end of the welding wire and the surface of the deposition layer through a voltage sensor. Combined with the servo motor to adjust the wire feeding height and speed, multi-level variable step length control is achieved to ensure that the wire feeding position is always in the droplet-surface tension joint transition range.
This technology improves the stability and forming quality of the arc additive manufacturing process, avoids metal spatter and wire puncture, reduces forming defects, and enhances forming quality.
Smart Images
Figure CN117226219B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of electric arc additive manufacturing technology, and more specifically to an electric arc additive metal transition control system and method based on local arc voltage sensing. Background Technology
[0002] Currently, electric arc additive manufacturing is an advanced manufacturing technology developed in recent years. It uses an electric arc energy beam as a heat source, and directly manufactures solid parts or products by dividing a three-dimensional digital model into two-dimensional sections and layers, and then depositing and accumulating metal wires layer by layer. Depending on the type of heat source, electric arc additive manufacturing technology can be divided into tungsten inert gas (TIG) arc, plasma arc, and molten electrode arc (MEA) additive manufacturing technologies. TIG and MEA are non-molten electrode arcs, possessing advantages such as arc stability, high forming quality, and excellent performance. This technology generally employs off-axis wire feeding, where the metal wire is fed into the molten pool from outside the arc. This transition method has a significant impact on the stability of the additive manufacturing process, forming quality, and component performance.
[0003] Non-consumable electrode arc additive manufacturing metal transfer methods can be divided into droplet transfer, surface tension transfer, and a combination of droplet and surface tension transfer. Among them, droplet transfer is prone to metal spatter due to the repulsive effect of radial arc force on the molten droplet, which reduces material utilization and causes forming defects such as discontinuous forming and uneven weld bead. In surface tension transfer, the welding wire is melted by the molten pool and the metal transfer is achieved through surface tension, which is prone to wire sticking and wire poking, resulting in forming defects such as undercut, humps, and uneven weld bead.
[0004] The prior art disclosed in CN115194293A is a device and method for achieving high-precision additive manufacturing using a non-consumable electrode arc welding process with real-time fine-tuning wire feeding. The device includes a 3D camera, a wire feeding fine-tuning mechanism, a non-consumable electrode arc additive manufacturing gun, and a connecting fixture. It uses images of the weld layer acquired by the 3D camera as feedback, and the welding gun height and wire feeding height as control quantities to control the quality of the additive manufacturing process. This invention relies on image information as feedback, which results in large data volumes, slow signal processing, and slow response times. Furthermore, this invention involves multiple control quantities, and if one of these control quantities, the welding gun height, changes, the planned path needs to be corrected in real-time to ensure the stability of the fusion process and the accuracy of the formed dimensions, leading to high equipment and process complexity.
[0005] Therefore, how to achieve rapid, convenient, and low-cost active control of the metal transition mode in arc additive manufacturing, and enable it to work continuously and stably in the droplet-surface tension combined transition mode, so as to ensure the stability of the arc additive manufacturing process and the forming quality, is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention
[0006] In view of this, the present invention provides an arc additive metal transition control system and method based on local arc voltage sensing, which enables the metal transition to always operate in a droplet-surface tension combined transition mode, thereby achieving stable control of the metal transition process.
[0007] To achieve the above objectives, the present invention adopts the following technical solution:
[0008] An arc additive metal transfer control system based on local arc voltage sensing includes an arc welding assembly, a substrate, a servo motor, a wire feeding device, a voltage sensor, and a first controller.
[0009] The arc welding assembly is used to generate an electric arc and act on the welding wire to form a deposition layer;
[0010] The positive and negative terminals of the voltage sensor are connected to the substrate at one end and to the welding wire at the other end, and are used to collect the local arc voltage between the end of the welding wire and the surface of the deposition layer.
[0011] The voltage sensor signal output terminal is connected to the first controller; the controller controls the servo motor according to the local arc voltage; the servo motor is connected to the wire feeding device and is used to drive the wire feeding device and adjust the wire feeding height.
[0012] Furthermore, it also includes a motion mechanism and a second controller, wherein the motion mechanism is fixed to the base plate and is used to move according to a path plan preset by the second controller.
[0013] Furthermore, the arc welding assembly includes an arc welding power source and a non-consumable electrode welding torch;
[0014] The arc welding power source is electrically connected to the non-consumable electrode welding gun and the substrate respectively; during operation, the electric arc generated by the non-consumable electrode welding gun forms a conductive circuit.
[0015] Furthermore, the non-consumable electrode welding torch is a plasma welding torch or a tungsten inert gas welding torch.
[0016] A method for controlling the transition of electric arc additive manufacturing metal based on local arc voltage sensing includes the following steps:
[0017] Set path parameters based on the target component;
[0018] Acquire a first arc pressure threshold, a second arc pressure threshold, and a local arc pressure signal; wherein the first arc pressure threshold is the maximum arc pressure value during droplet transition; and the second arc pressure threshold is the minimum arc pressure value during surface tension transition.
[0019] The local arc voltage signal is compared with the first arc voltage threshold or the second arc voltage threshold, and the first arc voltage difference is calculated; and the adjustment direction of the wire feeding height is determined according to the comparison result, so that the arc voltage signal corresponding to the wire feeding height is between the first arc voltage threshold and the second arc voltage threshold.
[0020] Furthermore, the steps also include: setting the target number of deposition layers N based on the target configuration. M ;
[0021] Obtain the real-time number of weld layers N;
[0022] When N is greater than N M When the electric arc is extinguished, the additive manufacturing process ends.
[0023] Furthermore, the steps also include: adjusting the wire feeding height while controlling the adjustment speed of the wire feeding height, including:
[0024] Calculate the relative second arc pressure difference based on the first arc pressure threshold and the second arc pressure threshold; control the adjustment speed of the wire feeding height based on the first arc pressure difference and the second arc pressure difference.
[0025] Furthermore, the adjustment speed of the wire feeding height is controlled using a multi-stage variable step size method, including:
[0026] Calculate the ratio of the first arc pressure difference to the second arc pressure difference to obtain the ratio coefficient;
[0027] Set multi-level coefficient thresholds, determine the threshold crossing situation based on the ratio coefficients, and adjust the speed to the corresponding level according to different threshold crossing situations.
[0028] Furthermore, the step of setting multi-level coefficient thresholds, determining threshold exceedance based on the ratio coefficients, and adjusting the speed to the corresponding level based on different threshold exceedance conditions includes:
[0029] The system is configured with a first-level speed, a second-level speed, a third-level speed, and a fourth-level speed; wherein the first-level speed < the second-level speed < the third-level speed < the fourth-level speed.
[0030] Set a first coefficient threshold, a second coefficient threshold, and a third coefficient threshold; wherein, the first coefficient threshold < the second coefficient threshold < the third coefficient threshold;
[0031] When the ratio coefficient is less than the first coefficient threshold, the adjustment speed is level one; when the ratio coefficient is between the first coefficient threshold and the second coefficient threshold, the adjustment speed is level two; when the ratio coefficient is between the second coefficient threshold and the third coefficient threshold, the adjustment speed is level three; when the ratio coefficient exceeds the third coefficient threshold, the adjustment speed is level four.
[0032] As can be seen from the above technical solution, compared with the prior art, the present invention discloses an arc additive manufacturing metal transition control system and method based on local arc voltage sensing. Using local arc voltage as the feedback quantity and wire feeding position as the control quantity, a multi-level variable step size control method is employed to dynamically adjust the wire feeding position, ensuring that the voltage between the welding wire tip and the molten pool is between UH and UL in real time. That is, the metal transition always operates in a droplet-surface tension combined transition mode, achieving stable control of the metal transition process. This effectively avoids metal spatter, wire sticking, and wire puncture phenomena that easily occur during arc additive manufacturing, improves the stability of the additive process, and improves forming defects such as undercut, hump, discontinuous forming, and uneven weld bead, thereby improving forming quality. Attached Figure Description
[0033] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.
[0034] Figure 1 The attached figure is a schematic diagram of an arc additive metal transition control system based on local arc voltage sensing provided in an embodiment of the present invention;
[0035] Figure 2 is a schematic diagram showing the correspondence between the wire feeding position and the metal transition method of the present invention;
[0036] Figure 3 The attached figure is a schematic diagram showing the correspondence between the wire feeding position and the arc voltage distribution in the embodiment:
[0037] Figure 4 The attached figure is a schematic diagram of an arc additive metal transition control method based on local arc voltage sensing provided by an embodiment of the present invention;
[0038] Figure 5 The attached figure is a schematic diagram of the metal transition process and forming morphology effect according to an embodiment of the present invention;
[0039] Figure 6 The attached figure is a schematic diagram of the metal transition process and forming morphology effect in the experimental comparative example of the present invention.
[0040] Among them, 1-arc welding power source; 2-non-consumable electrode welding torch; 3-electric arc; 4-molten droplet; 5-molten pool; 6-welding wire; 7-deposited layer; 8-substrate; 9-motion mechanism; 10-voltage sensor; 11-first controller; 12-servo motor. Detailed Implementation
[0041] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.
[0042] Example 1
[0043] This invention discloses an arc 3 additive metal transfer system based on local arc voltage sensing, comprising: an arc welding assembly, a substrate 8, a servo motor 12, a wire feeding device, a voltage sensor 10, and a first controller 11; the arc welding assembly is used to generate an arc 3 and act on the welding wire 6 to form a deposition layer 7; the positive and negative terminals of the voltage sensor 10 are connected to the substrate 8 at one end and to the wire guide nozzle of the wire feeding device at the other end, wherein the substrate 8 is conductive in contact with the deposition layer, and the wire guide nozzle is conductive in contact with the welding wire; thereby realizing the local arc voltage sensing between the welding wire tip and the deposition layer in the arc voltage.
[0044] The welding wire 6 is brought into contact to collect the local arc voltage between the end of the welding wire 6 and the surface of the deposition layer 7; the signal output terminal of the voltage sensor 10 is connected to the first controller 11; the first controller 11 controls the servo motor 12 according to the local arc voltage; the servo motor 12 is connected to the wire feeding device to drive the wire feeding device and adjust the wire feeding height.
[0045] In order to further implement the above technical solution, the first controller 11 controls the servo motor 12 not only to adjust the wire feeding height, but also to control the speed of change of the wire feeding height by controlling the rotation speed.
[0046] To further implement the above technical solution, a motion mechanism 9 and a second controller are also included. The motion mechanism 9 is fixed to the base plate 8 and is used to move according to the path planning preset by the second controller.
[0047] To further implement the above technical solution, the arc welding assembly includes an arc welding power source 1 and a non-consumable electrode welding torch 2; the non-consumable electrode welding torch 2 is a tungsten inert gas welding torch or a plasma welding torch; the arc welding power source 1 is electrically connected to the non-consumable electrode welding torch 2 and the substrate 8 respectively; during operation, the electric arc 3 generated by the non-consumable electrode welding torch 2 forms a conductive circuit.
[0048] In this embodiment, the welding wire 6 is connected to the servo motor 12, and the servo motor 12 moves the welding wire 6 along the height direction at a speed V. Specifically, the welding wire 6 is brought to the welding work area through the wire guide tube of the wire feeding device; the wire guide tube is fixed on the servo motor to control the wire feeding height.
[0049] Wherein, the wire feeding position H represents the distance between the end of the welding wire 6 and the surface of the deposition layer 7. The wire feeding speed V of the servo motor 12 ranges from 0.01 to 10 mm / s; the wire feeding position H ranges from 0 to 6.0 mm.
[0050] The correspondence between the wire feed position and the metal (droplet 4) transfer mode is shown in Figure 2. As the distance between the end of the welding wire 6 and the molten pool 5 decreases, the metal transfer successively undergoes three modes: droplet transfer (wire feed position H). A ), droplet-surface tension combined transition (wire feed position H) B ) and surface tension transition (wire feed position H) C ).
[0051] The characteristics of voltage distribution in arc 3 physics are as follows: Figure 3 As shown, the electric arc 3 generated between the welding torch and the deposition layer 7 can be divided into three characteristic regions: the cathode region (welding torch end), the arc column region, and the anode region (deposition layer 7 end). The voltage drop UT at the welding torch end and the voltage drop UD at the deposition layer 7 end are characterized by narrow range, high amplitude, and large rate of change, while the voltage drop in the arc column region is characterized by wide range, low amplitude, and small rate of change.
[0052] In the actual arc 3 additive manufacturing process, the wire feeding position mainly operates between the arc column region and the deposition layer 7. When the wire feeding position is in the arc column region A, corresponding to the droplet transition, there is a minimum critical voltage U between the end of the welding wire 6 and the molten pool 5. H U H The range is 19–25V, U H According to process experiments, when the wire feed position is at the surface C of the deposition layer 7, corresponding to the surface tension transition, there is a maximum critical voltage U between the end of the welding wire 6 and the molten pool 5. L U L The range is 0 to 20V, U L According to process experiments, when the wire feeding position is between the arc column region A and the deposition layer 7C (B), corresponding to the droplet-surface tension combined transition, the voltage between the end of the welding wire 6 and the molten pool 5 is at U. H and U L between.
[0053] This invention, based on a basic arc-assisted additive manufacturing equipment, adds a local arc voltage signal sensing device between the end of the welding wire 6 and the substrate 8, and a wire feeding position adjustment device driven by a servo motor 12. It uses the local arc voltage as the feedback quantity and the wire feeding position as the control quantity, resulting in small data volume and fast signal processing and response speed. A multi-level variable step size control method is employed to dynamically adjust the wire feeding position, ensuring that the voltage between the end of the welding wire 6 and the molten pool 5 is maintained at U in real time. H and U L In between, the metal transition always operates in a droplet-surface tension combined transition mode, achieving stable control of the metal transition process.
[0054] Example 2
[0055] Based on the same inventive concept, this invention discloses an arc additive metal transfer method based on local arc voltage sensing, comprising the following steps:
[0056] S1: Set path parameters based on the target component;
[0057] S2: Obtain the first arc pressure threshold, the second arc pressure threshold, and the local arc pressure signal; wherein the first arc pressure threshold is the maximum arc pressure value during droplet transition; and the second arc pressure threshold is the minimum arc pressure value during surface tension transition.
[0058] S3: Compare the local arc voltage signal with the first arc voltage threshold or the second arc voltage threshold, and calculate the first arc voltage difference; and determine the adjustment direction of the wire feeding height based on the comparison result, so that the arc voltage signal corresponding to the wire feeding height is between the first arc voltage threshold and the second arc voltage threshold.
[0059] To further implement the above technical solution, S1 also includes: setting the target number of deposition layers N according to the target structure. M The process parameters were set as follows: arc current 150A, scanning speed 4.5mm / s, wire feed speed 2m / min, protective gas flow rate 8L / min, and plasma gas flow rate 0.8L / min.
[0060] To further implement the above technical solution, the adjustment direction of the wire feeding height is determined in S3 based on the comparison results as follows:
[0061] S31: The local arc voltage value U is controlled by the controller. i Compared with the preset value U L Compare and calculate ΔU iL ΔU iL =|U L -U i |. If U i Less than or equal to U L A control signal is sent to the servo motor, causing it to move the wire feeding position at a speed of V. L Moving upwards.
[0062] S32: The local arc voltage value U is controlled by the controller. i Compared with the preset value U H Compare and calculate ΔU iH ΔU iH =|U H -U i |. If U i Greater than or equal to U H A control signal is sent to the servo motor, causing it to move the wire feeding position at a speed of V. H Moving downwards.
[0063] In this embodiment, the number of weld layers N and N are compared. M If N is less than or equal to N M If N is greater than N, return to step S31 or S32 to continue additive manufacturing; M When the electric arc is extinguished, the additive manufacturing process ends.
[0064] To further implement the above technical solution, S31 and S32 simultaneously adjust the wire feeding height and control the wire feeding speed. Specifically, a multi-level variable step size method is used to control the adjustment speed of the wire feeding height. The ratio of the first arc pressure difference to the second arc pressure difference is calculated to obtain the ratio coefficient. Multi-level coefficient thresholds are set, and the threshold exceeding the ratio coefficient is judged based on the threshold value. The speed is adjusted to the corresponding level according to different threshold exceeding conditions. For example, a first-level speed, a second-level speed, a third-level speed, and a fourth-level speed are set; where the first-level speed < the second-level speed < the third-level speed < the fourth-level speed. A first coefficient threshold, a second coefficient threshold, and a third coefficient threshold are set; where the first coefficient threshold < the second coefficient threshold < the third coefficient threshold. When the ratio coefficient is less than the first coefficient threshold, the adjustment speed is the first-level speed; when the ratio coefficient is between the first and second coefficient thresholds, the adjustment speed is the second-level speed; when the ratio coefficient is between the second and third coefficient thresholds, the adjustment speed is the third-level speed; when the ratio coefficient exceeds the third coefficient threshold, the adjustment speed is the fourth-level speed.
[0065] In one embodiment, such as Figure 4 The local arc voltage value U is controlled by the controller. i Compared with the preset value U L Compare and calculate ΔU iL ΔU iL =|U L -U i |. If U i Less than or equal to U L A control signal is sent to the servo motor, causing it to move the wire feeding position at a speed of V. L Upward movement, V L Obtained by a multi-stage variable step size control method, when ΔUiL >0.75ΔU, V L The speed is 2 mm / s; when 0.5ΔU < ΔU iL ≤0.75ΔU,V L =1 mm / s; when 0.25ΔU < ΔU iL ≤0.5ΔU,V L It is 0.5 mm / s; when ΔU iL ≤0.25ΔU,V L It is 0.2 mm / s.
[0066] The local arc pressure value U is controlled by the controller. i Compared with the preset value U H Compare and calculate ΔU iH ΔU iH =|U H -U i |. If U i Greater than or equal to U H A control signal is sent to the servo motor, causing it to move the wire feeding position at a speed of V. H Moving downwards, V H Obtained by a multi-stage variable step size control method, when ΔU iH >0.75ΔU, V H The speed is 2 mm / s; when 0.5ΔU < ΔU iH ≤0.75ΔU,V H =1 mm / s; when 0.25ΔU < ΔU iH ≤0.5ΔU,V H It is 0.5 mm / s; when ΔU iH ≤0.25ΔU,V H It is 0.2 mm / s.
[0067] The effects of the present invention are further illustrated by the following experiments:
[0068] Comparative Example 1
[0069] Without applying the metal transition control device and method of the present invention, a conventional plasma arc additive manufacturing process was used, with the wire feed height H set to 4 mm, and other process parameters the same as in Example 2. Experiments were conducted using the same steps as in Example 1 to obtain the formed part.
[0070] Comparative Example 2
[0071] Without applying the metal transition control device and method of the present invention, a conventional plasma arc additive manufacturing process was used, with the wire feed height H set to 0.5 mm, and other process parameters the same as in Example 2. Experiments were conducted using the same steps as in Example 1 to obtain the formed part.
[0072] Examples 1 and 2 employ the system and method for stable arc additive metal transfer based on local arc voltage sensing and wire feed position adjustment of the present invention. Under the condition that other process parameters remain unchanged, the stability of the metal transfer process control under different wire feed speeds is verified, such as... Figure 5 As shown, the system and method of this invention can achieve stable control of the arc additive metal transfer process and obtain good forming quality.
[0073] like Figure 6 The experimental results of Example 2 and Comparative Examples 1 and 2 show that, without using the system and method of the present invention based on local arc voltage sensing and wire feed position adjustment for stable arc additive metal transfer, the metal transfer mode depends on the wire feed position and is not adjustable. When the wire feed position is too high (Comparative Example 1), the metal transfer mode is droplet transfer, resulting in metal spatter and discontinuous forming defects. When the wire feed position is too low (Comparative Example 2), the metal transfer mode is surface tension transfer, resulting in wire poking. The additive process is less stable, and forming defects of unmelted welding wire appear on the surface of the weld bead.
[0074] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.
[0075] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims
1. A method for controlling the transition of electric arc additive manufacturing metal based on local arc voltage sensing, characterized in that, Includes the following steps: Set path parameters based on the target component; Obtain the first arc voltage threshold, the second arc voltage threshold, and the local arc voltage signal; The first arc voltage threshold is the minimum critical value of the voltage between the welding wire tip and the molten pool during droplet transfer. The second arc voltage threshold is the maximum critical value of the voltage between the welding wire tip and the molten pool during surface tension transition. The local arc voltage signal is the local arc voltage between the tip of the welding wire and the deposition layer in the arc voltage. The local arc pressure signal is compared with the first arc pressure threshold or the second arc pressure threshold, and the first arc pressure difference is calculated. or Based on the comparison results, the adjustment direction of the wire feeding height is determined so that the arc voltage signal corresponding to the wire feeding height is between the first arc voltage threshold and the second arc voltage threshold. Adjusting the wire feeding height while controlling the adjustment speed of the wire feeding height includes: calculating the relative second arc pressure difference based on the first arc pressure threshold and the second arc pressure threshold. The adjustment speed of the wire feeding height is controlled based on the first arc pressure difference and the second arc pressure difference. The adjustment speed of the wire feeding height is controlled by a multi-stage variable step size method, including: Calculate the ratio of the first arc pressure difference to the second arc pressure difference to obtain the ratio coefficient; Set multi-level coefficient thresholds, determine the threshold crossing situation based on the ratio coefficients, and adjust the speed to the corresponding level according to different threshold crossing situations.
2. The arc additive manufacturing metal transition control method based on local arc voltage sensing according to claim 1, characterized in that, The steps also include: setting the target number of deposition layers based on the target configuration. ; Get the number of weld layers in real time N ; when N Greater than When the electric arc is extinguished, the additive manufacturing process ends.
3. The arc additive metal transition control method based on local arc voltage sensing according to claim 1, characterized in that, The step of setting multi-level coefficient thresholds, determining threshold exceedance based on the ratio coefficients, and adjusting the speed to the corresponding level based on different threshold exceedance conditions includes: The system is configured with a first-level speed, a second-level speed, a third-level speed, and a fourth-level speed; wherein the first-level speed < the second-level speed < the third-level speed < the fourth-level speed. Set a first coefficient threshold, a second coefficient threshold, and a third coefficient threshold; wherein, the first coefficient threshold < the second coefficient threshold < the third coefficient threshold; When the ratio coefficient is less than the first coefficient threshold, the adjustment speed is level one; when the ratio coefficient is between the first coefficient threshold and the second coefficient threshold, the adjustment speed is level two; when the ratio coefficient is between the second coefficient threshold and the third coefficient threshold, the adjustment speed is level three; when the ratio coefficient exceeds the third coefficient threshold, the adjustment speed is level four.
4. The arc additive metal transition control method based on local arc voltage sensing according to claim 1, characterized in that, The arc additive metal transfer control method is implemented through an arc additive metal transfer control system, which includes an arc welding assembly, a substrate, a servo motor, a wire feeding device, a voltage sensor, and a first controller. The arc welding assembly is used to generate an electric arc and act on the welding wire to form a deposition layer; The positive and negative terminals of the voltage sensor are connected to the substrate at one end and to the welding wire at the other end, and are used to collect the local arc voltage between the end of the welding wire and the surface of the deposition layer. The voltage sensor signal output terminal is connected to the first controller; the first controller controls the servo motor according to the local arc voltage; the servo motor is connected to the wire feeding device and is used to drive the wire feeding device and adjust the wire feeding height.
5. The arc additive metal transition control method based on local arc voltage sensing according to claim 4, characterized in that, The arc additive metal transition control system further includes a motion mechanism and a second controller. The motion mechanism is fixed to the substrate and is used to move according to a path plan preset by the second controller.
6. The arc additive metal transition control method based on local arc voltage sensing according to claim 4, characterized in that, The arc welding assembly includes an arc welding power source and a non-consumable electrode welding torch; The arc welding power source is electrically connected to the non-consumable electrode welding gun and the substrate respectively; during operation, the electric arc generated by the non-consumable electrode welding gun forms a conductive circuit.
7. The arc additive manufacturing metal transition control method based on local arc voltage sensing according to claim 6, characterized in that, The non-consumable electrode welding gun is a plasma welding gun or a tungsten inert gas welding gun.